class robot_model_loader[source]

robot_model_loader(url, name)

Testing example

id is the google drive id, filename is your filename in google drive (should be a .zip file )

cd data

/home/arg/arg_robotics_tools/data

id = "1ryZjEXu4xCGIK5vp2fuIqYTl4sUWKjaS"
name = "husky_ur5"
robot = robot_model_loader(id, name)

robot.load()

Downloading...
From: https://drive.google.com/u/1/uc?id=1ryZjEXu4xCGIK5vp2fuIqYTl4sUWKjaS
To: /home/arg/arg_robotics_tools/data/husky_ur5.zip
100%|██████████████████████████████████████████████████████| 7.41M/7.41M [00:00<00:00, 97.3MB/s]

ls

husky_ur5/  husky_ur5.zip

robot.list_all()

husky_ur5.xml 

husky_ur5.urdf 

robot.show_link("husky_ur5/husky_ur5.urdf")

face_normals all zero, ignoring!
face_normals all zero, ignoring!
face_normals all zero, ignoring!
face_normals all zero, ignoring!
face_normals all zero, ignoring!
face_normals all zero, ignoring!
face_normals all zero, ignoring!

base_link
base_footprint
inertial_link
imu_link
front_left_wheel_link
front_right_wheel_link
rear_left_wheel_link
rear_right_wheel_link
top_chassis_link
user_rail_link
front_bumper_link
rear_bumper_link
top_plate_link
top_plate_front_link
top_plate_rear_link
ur5/base_link
ur5/shoulder_link
ur5/upper_arm_link
ur5/forearm_link
ur5/wrist_1_link
ur5/wrist_2_link
ur5/wrist_3_link
ur5/ee_link
ur5/base
ur5/tool0
ft300_sensor
ft300_mounting_plate
robotiq_ft_frame_id
gripper_base_link
gripper_finger1_knuckle_link
gripper_finger2_knuckle_link
gripper_finger1_finger_link
gripper_finger2_finger_link
gripper_finger1_inner_knuckle_link
gripper_finger2_inner_knuckle_link
gripper_finger1_finger_tip_link
gripper_finger2_finger_tip_link
bumper_gripper_link